How to drive Dynamixel AX-12A servos (with a RaspberryPi)

I decided to use some Dynamixel AX-12A motors for a project, and ended up having to code a library for them, so I figured I would share what I learned. Despite being a bit more expensive, this motor has a couple of advantages over the more commonly found TowerPro motors. Mainly, the Dynamixel motors are …

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